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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 09:22:18 +00:00
343 lines
6.8 KiB
C++
343 lines
6.8 KiB
C++
#include <unit_test/unit_test.h>
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#include <systemlib/err.h>
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#include <stdio.h>
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#include <unistd.h>
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#include <drivers/drv_hrt.h>
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#define DSM_DEBUG
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#include <lib/rc/sbus.h>
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#include <lib/rc/dsm.h>
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#include <lib/rc/st24.h>
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#include <lib/rc/sumd.h>
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#if !defined(CONFIG_ARCH_BOARD_SITL)
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#define TEST_DATA_PATH "/fs/microsd"
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#else
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#define TEST_DATA_PATH "./test_data/"
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#endif
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extern "C" __EXPORT int rc_tests_main(int argc, char *argv[]);
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class RCTest : public UnitTest
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{
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public:
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virtual bool run_tests();
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private:
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bool dsmTest(const char *filepath, unsigned expected_chancount, unsigned expected_dropcount, unsigned chan0);
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bool dsmTest10Ch();
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bool dsmTest12Ch();
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bool sbus2Test();
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bool st24Test();
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bool sumdTest();
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};
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bool RCTest::run_tests()
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{
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ut_run_test(dsmTest10Ch);
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ut_run_test(dsmTest12Ch);
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ut_run_test(sbus2Test);
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ut_run_test(st24Test);
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ut_run_test(sumdTest);
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return (_tests_failed == 0);
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}
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bool RCTest::dsmTest10Ch()
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{
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return dsmTest(TEST_DATA_PATH "dsm_x_data.txt", 10, 6, 1500);
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}
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bool RCTest::dsmTest12Ch()
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{
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return dsmTest(TEST_DATA_PATH "dsm_x_dx9_data.txt", 12, 6, 1500);
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}
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bool RCTest::dsmTest(const char *filepath, unsigned expected_chancount, unsigned expected_dropcount, unsigned chan0)
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{
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FILE *fp;
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fp = fopen(filepath, "rt");
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ut_test(fp != nullptr);
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//PX4_INFO("loading data from: %s", filepath);
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float f;
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unsigned x;
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int ret;
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// Trash the first 20 lines
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for (unsigned i = 0; i < 20; i++) {
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char buf[200];
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(void)fgets(buf, sizeof(buf), fp);
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}
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// Init the parser
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uint8_t frame[30];
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uint16_t rc_values[18];
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uint16_t num_values;
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bool dsm_11_bit;
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unsigned dsm_frame_drops = 0;
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uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);
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int rate_limiter = 0;
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unsigned last_drop = 0;
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dsm_proto_init();
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while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
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if (ret <= 0) {
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fclose(fp);
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ut_test(ret > 0);
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}
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frame[0] = x;
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unsigned len = 1;
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// Pipe the data into the parser
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bool result = dsm_parse(f * 1e6f, &frame[0], len, rc_values, &num_values,
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&dsm_11_bit, &dsm_frame_drops, max_channels);
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if (result) {
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ut_compare("num_values == expected_chancount", num_values, expected_chancount);
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ut_test(abs((int)chan0 - (int)rc_values[0]) < 30);
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//PX4_INFO("decoded packet with %d channels and %s encoding:", num_values, (dsm_11_bit) ? "11 bit" : "10 bit");
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for (unsigned i = 0; i < num_values; i++) {
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//PX4_INFO("chan #%u:\t%d", i, (int)rc_values[i]);
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}
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}
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if (last_drop != (dsm_frame_drops)) {
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PX4_INFO("frame dropped, now #%d", (dsm_frame_drops));
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last_drop = dsm_frame_drops;
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}
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rate_limiter++;
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}
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fclose(fp);
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ut_test(ret == EOF);
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PX4_INFO("drop: %d", (int)last_drop);
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ut_test(last_drop == expected_dropcount);
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return true;
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}
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bool RCTest::sbus2Test()
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{
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const char *filepath = TEST_DATA_PATH "sbus2_r7008SB.txt";
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FILE *fp;
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fp = fopen(filepath, "rt");
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ut_test(fp != nullptr);
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//warnx("loading data from: %s", filepath);
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// if (argc < 2)
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// errx(1, "Need a filename for the input file");
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//int byte_offset = 7;
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// if (argc > 2) {
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// char* end;
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// byte_offset = strtol(argv[2],&end,10);
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// }
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//warnx("RUNNING TEST WITH BYTE OFFSET OF: %d", byte_offset);
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float f;
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unsigned x;
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int ret;
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// Trash the first 20 lines
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for (unsigned i = 0; i < 20; i++) {
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char buf[200];
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(void)fgets(buf, sizeof(buf), fp);
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}
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// Init the parser
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uint8_t frame[SBUS_BUFFER_SIZE];
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uint16_t rc_values[18];
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uint16_t num_values;
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unsigned sbus_frame_drops = 0;
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unsigned sbus_frame_resets = 0;
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bool sbus_failsafe;
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bool sbus_frame_drop;
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uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);
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int rate_limiter = 0;
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unsigned last_drop = 0;
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while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
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if (ret <= 0) {
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fclose(fp);
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ut_test(ret > 0);
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}
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frame[0] = x;
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unsigned len = 1;
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// Pipe the data into the parser
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hrt_abstime now = hrt_absolute_time();
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// if (rate_limiter % byte_offset == 0) {
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bool result = sbus_parse(now, &frame[0], len, rc_values, &num_values,
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&sbus_failsafe, &sbus_frame_drop, &sbus_frame_drops, max_channels);
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if (result) {
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//warnx("decoded packet");
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}
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// }
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if (last_drop != (sbus_frame_drops + sbus_frame_resets)) {
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PX4_WARN("frame dropped, now #%d", (sbus_frame_drops + sbus_frame_resets));
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last_drop = sbus_frame_drops + sbus_frame_resets;
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}
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rate_limiter++;
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}
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ut_test(ret == EOF);
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return true;
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}
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bool RCTest::st24Test()
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{
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const char *filepath = TEST_DATA_PATH "st24_data.txt";
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//warnx("loading data from: %s", filepath);
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FILE *fp;
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fp = fopen(filepath, "rt");
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ut_test(fp != nullptr);
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float f;
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unsigned x;
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int ret;
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// Trash the first 20 lines
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for (unsigned i = 0; i < 20; i++) {
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char buf[200];
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(void)fgets(buf, sizeof(buf), fp);
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}
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float last_time = 0;
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while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
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if (ret <= 0) {
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fclose(fp);
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ut_test(ret > 0);
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}
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if (((f - last_time) * 1000 * 1000) > 3000) {
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// warnx("FRAME RESET\n\n");
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}
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uint8_t b = static_cast<uint8_t>(x);
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last_time = f;
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// Pipe the data into the parser
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//hrt_abstime now = hrt_absolute_time();
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uint8_t rssi;
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uint8_t rx_count;
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uint16_t channel_count;
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uint16_t channels[20];
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if (!st24_decode(b, &rssi, &rx_count, &channel_count, channels, sizeof(channels) / sizeof(channels[0]))) {
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//warnx("decoded: %u channels (converted to PPM range)", (unsigned)channel_count);
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for (unsigned i = 0; i < channel_count; i++) {
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//int16_t val = channels[i];
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//warnx("channel %u: %d 0x%03X", i, static_cast<int>(val), static_cast<int>(val));
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}
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}
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}
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ut_test(ret == EOF);
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return true;
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}
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bool RCTest::sumdTest()
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{
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const char *filepath = TEST_DATA_PATH "sumd_data.txt";
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//warnx("loading data from: %s", filepath);
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FILE *fp;
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fp = fopen(filepath, "rt");
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ut_test(fp != nullptr);
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float f;
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unsigned x;
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int ret;
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// Trash the first 20 lines
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for (unsigned i = 0; i < 20; i++) {
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char buf[200];
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(void)fgets(buf, sizeof(buf), fp);
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}
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float last_time = 0;
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while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
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if (ret <= 0) {
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fclose(fp);
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ut_test(ret > 0);
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}
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if (((f - last_time) * 1000 * 1000) > 3000) {
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// warnx("FRAME RESET\n\n");
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}
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uint8_t b = static_cast<uint8_t>(x);
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last_time = f;
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// Pipe the data into the parser
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//hrt_abstime now = hrt_absolute_time();
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uint8_t rssi;
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uint8_t rx_count;
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uint16_t channel_count;
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uint16_t channels[32];
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bool sumd_failsafe;
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if (!sumd_decode(b, &rssi, &rx_count, &channel_count, channels, 32, &sumd_failsafe)) {
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//PX4_INFO("decoded: %u channels (converted to PPM range)", (unsigned)channel_count);
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for (unsigned i = 0; i < channel_count; i++) {
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//int16_t val = channels[i];
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//PX4_INFO("channel %u: %d 0x%03X", i, static_cast<int>(val), static_cast<int>(val));
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}
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}
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}
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ut_test(ret == EOF);
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return true;
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}
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ut_declare_test_c(rc_tests_main, RCTest)
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